Badler, Norman IKo, Hyeongseok2023-05-222023-05-221996-03-012007-07-18https://repository.upenn.edu/handle/20.500.14332/36500Locomotion is a major component of human activity, and there have been many attempts to reveal its principles through the application of physics and dynamics. Both computer graphics and robotics continue such efforts, but many problems remain unsolved, even in characterizing the simplest case: linear, forward, rhythmic walking.Article